Positioning method and apparatus, and storage medium

Abstract

The present disclosure provides a positioning method and device, and a storage medium. The method comprises: sending a capability request message to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal through a sidelink; in response to receiving a capability providing message returned by the second terminal, sending a positioning assistance information request message to the second terminal based on positioning capability information in the capability providing message, which is used to indicate the positioning capability supported by the second terminal; in response to receiving a positioning assistance information providing message returned by the second terminal, which comprises first positioning assistance information, sending a request position information message to the second terminal; and in response to receiving a provided position information message returned by the second terminal, which comprises a measurement result, determining the position information of the second terminal based on the first positioning assistance information and the measurement result. The present disclosure enhances the LPP protocol, and achieves the purpose of positioning the terminal based on the LPP protocol over the sidelink.

Description

Technical Field

[0001] This disclosure relates to the field of communications, and in particular to positioning methods and devices, and storage media. Background Technology

[0002] LPP (LTE Positioning Protocol) is a point-to-point positioning protocol used between positioning servers and devices. Currently, it can be used between positioning servers and terminals to locate the terminals. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a positioning method, apparatus, and storage medium.

[0004] According to a first aspect of the present disclosure, a positioning method is provided, the method being applied to a first terminal, comprising:

[0005] Send a capability request message to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal via a side link, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal;

[0006] In response to receiving a capability provision message returned by the second terminal, based on the positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal, a positioning assistance information request message is sent to the second terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide first positioning assistance information, and the first positioning assistance information is used to assist the first terminal in determining the location information of the second terminal;

[0007] In response to receiving a positioning assistance information provision message from the second terminal that includes the first positioning assistance information, a request location information message is sent to the second terminal; wherein, the request location information message is used to request the second terminal to provide measurement results of measuring the location information of the second terminal;

[0008] In response to receiving a location information message from the second terminal that includes the measurement results, the location information of the second terminal is determined based on the first positioning assistance information and the measurement results.

[0009] According to a second aspect of the present disclosure, a positioning method is provided, the method being applied to a second terminal, comprising:

[0010] In response to receiving a capability request message from a first terminal, a capability provision message is sent to the first terminal; wherein the first terminal is a terminal that communicates with the second terminal via a side link, the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal, and the capability provision message includes positioning capability information indicating the positioning capabilities supported by the second terminal;

[0011] In response to receiving a positioning assistance information request message sent by the first terminal based on the positioning capability information, a positioning assistance information provision message including first positioning assistance information is sent to the first terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide the first positioning assistance information, and the first positioning assistance information is used to assist the first terminal in determining the measurement results of positioning the second terminal;

[0012] In response to receiving a request for location information message from the first terminal, the second terminal is located based on the positioning capabilities supported by the second terminal, and a measurement result is determined; wherein, the request for location information message is used to request the second terminal to determine the measurement result;

[0013] Send a location information message, including the measurement results, to the first terminal.

[0014] According to a third aspect of the present disclosure, a positioning device is provided, the device being applied to a first terminal, comprising:

[0015] The first sending module is configured to send a capability request message to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal via a side link, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal;

[0016] The second sending module is configured to, in response to receiving a capability provision message returned by the second terminal, send a positioning assistance information request message to the second terminal based on positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide first positioning assistance information, the first positioning assistance information being used to assist the first terminal in determining the location information of the second terminal;

[0017] The third sending module is configured to send a request location information message to the second terminal in response to receiving a location assistance information provision message including the first location assistance information returned by the second terminal; wherein the request location information message is used to request the second terminal to provide measurement results of measuring the location information of the second terminal;

[0018] The determination module is configured to determine the location information of the second terminal based on the first positioning assistance information and the measurement results in response to receiving a location information provision message including the measurement results returned by the second terminal.

[0019] According to a fourth aspect of the present disclosure, a positioning device is provided, the device being applied to a second terminal, comprising:

[0020] The fourth sending module is configured to send a capability provision message to the first terminal in response to receiving a capability request message sent by the first terminal; wherein the first terminal is a terminal that communicates with the second terminal through a side link, the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal, and the capability provision message includes positioning capability information indicating the positioning capabilities supported by the second terminal;

[0021] The fifth sending module is configured to, in response to receiving a positioning assistance information request message sent by the first terminal based on the positioning capability information, send a positioning assistance information providing message including first positioning assistance information to the first terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide the first positioning assistance information, and the first positioning assistance information is used to assist the first terminal in determining the measurement results of positioning the second terminal;

[0022] The positioning module is configured to, in response to receiving a request location information message sent by the first terminal, locate the second terminal based on the positioning capabilities supported by the second terminal and determine the measurement result; wherein, the request location information message is used to request the second terminal to determine the measurement result;

[0023] The sixth sending module is configured to send a location information message, including the measurement results, to the first terminal.

[0024] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the positioning method described in any of the preceding claims.

[0025] According to a sixth aspect of the present disclosure, a positioning device is provided, comprising:

[0026] processor;

[0027] Memory used to store processor-executable instructions;

[0028] The processor is configured to perform the positioning method described in any of the preceding descriptions.

[0029] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0030] In this embodiment of the disclosure, terminal positioning can be performed between terminals based on the LPP protocol. The LPP protocol has been enhanced to achieve the purpose of positioning terminals based on the LPP protocol on the side link.

[0031] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 This is a schematic diagram of the application scenarios of the LPP protocol in related technologies.

[0034] Figure 2 This is a schematic diagram illustrating a positioning method according to an exemplary embodiment.

[0035] Figure 3 This is a schematic diagram illustrating another positioning method according to an exemplary embodiment.

[0036] Figure 4 This is a schematic diagram illustrating another positioning method according to an exemplary embodiment.

[0037] Figure 5 This is a schematic diagram illustrating another positioning method according to an exemplary embodiment.

[0038] Figure 6 This is a schematic diagram illustrating another positioning method according to an exemplary embodiment.

[0039] Figure 7 This is a schematic diagram illustrating another positioning method according to an exemplary embodiment.

[0040] Figure 8 This is a block diagram illustrating a positioning device according to an exemplary embodiment.

[0041] Figure 9 This is a block diagram of another positioning device according to an exemplary embodiment.

[0042] Figure 10 This is a schematic diagram of a positioning device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of at least one associated listed item.

[0045] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0046] Reference Figure 1 As shown, communication between the positioning server and the target device can be established based on the LPP protocol to locate the target device. Specifically, the positioning server can send a RequestCapabilities message to the target device, and the target device can respond with a ProvideCapabilities message. The target device can also send a RequestAssistanceData message to the positioning server, and the positioning server can respond with a ProvideAssistanceData message. Furthermore, the positioning server can send a RequestLocationInformation message to the target device, and the target device can respond with a ProvideLocationInformation message.

[0047] The location server may include, but is not limited to, E-SMLC (Enhanced Serving Mobile Location Centre, LTE control plane network element), LMF (Location Management Function, NR control plane network function unit) or SLP (SUPL Location Platform, user plane server), and the target device may be a terminal.

[0048] As can be seen, the LPP protocol supports interaction between the positioning server and the terminal for terminal positioning. However, the LPP protocol is not suitable for scenarios where two terminals communicate on a sidelink. To address this technical issue, this disclosure provides the following positioning method, which enables terminal positioning based on the LPP protocol between terminals. This method enhances the LPP protocol to achieve positioning on a sidelink based on the LPP protocol.

[0049] It should be noted that the terminal positioning on the sidelink in this disclosure includes both absolute positioning and relative positioning. Absolute positioning obtains the terminal's absolute position information, including but not limited to the terminal's GNSS (Global Navigation Satellite System) coordinates. Relative positioning obtains the terminal's relative position information relative to a reference point, which can be another terminal on the sidelink. The relative position information includes, but is not limited to, one or more combinations of relative coordinates, relative distance, and relative angle.

[0050] In this embodiment, the absolute positioning of the sidelink utilizes the absolute coordinates of a reference point and the phase position between the terminal and the reference point to obtain the absolute position information of the terminal. The relative position between the terminal and the reference point can be obtained based on the measurement of positioning reference signals transmitted on the sidelink. The relative positioning of the sidelink can be obtained based on the measurement of positioning reference signals transmitted on the sidelink between the terminal and the reference point.

[0051] The positioning method provided in this disclosure will be introduced from the perspective of the first terminal. The first terminal can be the terminal that initiates positioning in the sidelink.

[0052] This disclosure provides a positioning method, referring to... Figure 2 As shown, Figure 2 This is a flowchart illustrating a positioning method according to an embodiment, which can be used in a first terminal. The method may include the following steps:

[0053] In step 201, a capability request message is sent to the second terminal.

[0054] In this embodiment of the disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink. The capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The first terminal can initiate the capability request message to the second terminal as a positioning server or target device in the LPP protocol, and the second terminal can receive the capability request message as a target device or positioning server in the LPP protocol.

[0055] In step 202, in response to receiving the capability provision message returned by the second terminal, a positioning assistance information request message is sent to the second terminal based on the positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal.

[0056] In this embodiment of the disclosure, after receiving a capability request message from the first terminal, the second terminal returns a capability provision message to the first terminal. This capability provision message may include positioning capability information indicating the positioning capabilities supported by the second terminal. Based on the positioning capability information corresponding to the second terminal, the first terminal may send a positioning assistance information request message to the second terminal. Specifically, the positioning assistance information request message requests the second terminal to provide first positioning assistance information to assist the first terminal in determining the location information of the second terminal.

[0057] In step 203, in response to receiving a location assistance information provision message including the first location assistance information returned by the second terminal, a request location information message is sent to the second terminal.

[0058] In this embodiment of the disclosure, after receiving a positioning assistance information request message, the second terminal returns a positioning assistance information provision message to the first terminal. Upon receiving this message, the first terminal can send a location information request message to the second terminal. This location information request message requests the second terminal to provide measurement results of its location information.

[0059] In step 204, in response to receiving a location information message from the second terminal that includes the measurement results, the location information of the second terminal is determined based on the first positioning assistance information and the measurement results.

[0060] In this embodiment of the disclosure, after receiving the request for location information message, the second terminal returns a location information provision message to the first terminal. The first terminal can determine the location information of the second terminal based on the previously received first positioning assistance information and the measurement results included in the location information provision message. Specifically, the first terminal can determine the absolute location information of the second terminal, such as the absolute GNSS coordinates of the second terminal. Alternatively, the first terminal can determine the relative location information of the second terminal, such as the relative coordinates, relative distance, and relative angle of the second terminal relative to a reference point.

[0061] In the above embodiments, the first terminal can interact with the second terminal on the side link based on the LPP protocol to determine the location information of the second terminal. The LPP protocol has been enhanced to achieve the purpose of locating the terminal on the side link based on the LPP protocol.

[0062] In some alternative embodiments, refer to Figure 3 As shown, Figure 3 This is a flowchart illustrating a positioning method according to an embodiment, which can be used in a first terminal. The method may include the following steps:

[0063] In step 301, a capability request message is sent to the second terminal.

[0064] In this embodiment of the disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink. The capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The first terminal can initiate the capability request message to the second terminal as a positioning server or target device in the LPP protocol, and the second terminal can receive the capability request message as a target device or positioning server in the LPP protocol.

[0065] In step 302, in response to receiving the capability provision message returned by the second terminal, a positioning assistance information provision message including the second positioning assistance information is sent to the second terminal.

[0066] In this embodiment, the first terminal, acting as the positioning initiator, can proactively send a positioning assistance information provision message to the second terminal after receiving a capability provision message from the second terminal, thereby assisting the second terminal in determining its own location information. In one possible implementation, at least one of positioning reference signal information and location calculation assistance information can be provided to the second terminal.

[0067] In step 303, a request for location information message is sent to the second terminal.

[0068] The location information request message is used to request the second terminal to provide the measurement results of the location information of the second terminal.

[0069] In step 304, in response to receiving a location information message from the second terminal that includes the measurement results, the location information of the second terminal is determined based on the first positioning assistance information and the measurement results.

[0070] In this embodiment, after receiving a request for location information message, the second terminal returns a location information provision message to the first terminal. The first terminal can determine the location information of the second terminal based on the previously received first positioning assistance information and the measurement results included in the location information provision message. Specifically, the first terminal can determine the absolute location information of the second terminal, such as the absolute GNSS coordinates of the second terminal. Alternatively, the first terminal can determine the relative location information of the second terminal, such as the relative coordinates, relative distance, and relative angle of the second terminal relative to a reference point. This reference point can be the first terminal or other terminals, and this disclosure does not limit it.

[0071] In the above embodiments, the first terminal can interact with the second terminal on the side link based on the LPP protocol to determine the location information of the second terminal. The LPP protocol has been enhanced to achieve the purpose of locating the terminal on the side link based on the LPP protocol.

[0072] In some alternative embodiments, refer to Figure 4 As shown, Figure 4 This is a flowchart illustrating a positioning method according to an embodiment, which can be used in a first terminal. The method may include the following steps:

[0073] In step 401, a capability request message including the first information element is sent to the second terminal.

[0074] In this embodiment of the disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink. The capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The first terminal can initiate a RequestCapabilities message to the second terminal as a target device in the LPP protocol, wherein the second terminal can receive the capability request message as a positioning server in the LPP protocol.

[0075] In this context, the first IE (Information Element) is a newly added information element in the capability request message. In one possible implementation, the number of first information elements is the same as the number of positioning capabilities supported by the requested second terminal. For example, if the first terminal requests the second terminal to provide six positioning capabilities, the number of first information elements is also six. Different positioning capabilities are requested from the second terminal using different first information elements.

[0076] In another possible implementation, the number of first information units is one, that is, the first terminal requests the second terminal to provide different positioning capabilities by using the information content included in the first information unit added in the capability request message.

[0077] In step 402, in response to receiving the capability provision message returned by the second terminal, a positioning assistance information request message is sent to the second terminal based on the positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal.

[0078] In this embodiment, after receiving the capability request message sent by the first terminal, the second terminal returns a ProvideCapabilities message to the first terminal. This capability provision message may include positioning capability information indicating the positioning capabilities supported by the second terminal. The first terminal may send a RequestAssistanceData message to the second terminal based on the positioning capability information corresponding to the second terminal. The positioning assistance information request message requests the second terminal to provide first positioning assistance information to assist the first terminal in determining the location information of the second terminal.

[0079] In step 403, in response to receiving a location assistance information provision message including the first location assistance information returned by the second terminal, a request location information message is sent to the second terminal.

[0080] In this embodiment of the disclosure, after receiving the location assistance information request message, the second terminal returns a ProvideAssistanceData message to the first terminal. Upon receiving this message, the first terminal can send a RequestLocationInformation message to the second terminal. This request location information message requests the second terminal to provide measurement results of its location information.

[0081] In step 404, in response to receiving a location information message from the second terminal that includes the measurement results, the location information of the second terminal is determined based on the first positioning assistance information and the measurement results.

[0082] In this embodiment of the disclosure, after receiving the request location information message, the second terminal returns a ProvideLocationInformation message to the first terminal. The first terminal can determine the location information of the second terminal based on the previously received first positioning assistance information and the measurement results included in the provide location information message. Specifically, the first terminal can determine the absolute location information of the second terminal, such as the absolute GNSS coordinates of the second terminal. Alternatively, the first terminal can determine the relative location information of the second terminal, such as the relative coordinates, relative distance, and relative angle of the second terminal relative to a reference point.

[0083] In the above embodiments, the first terminal can interact with the second terminal on the side link based on the LPP protocol to determine the location information of the second terminal. The LPP protocol has been enhanced to achieve the purpose of locating the terminal on the side link based on the LPP protocol.

[0084] In some alternative embodiments, refer to Figure 5 As shown, Figure 5 This is a flowchart illustrating a positioning method according to an embodiment, which can be used in a first terminal. The method may include the following steps:

[0085] In step 501, a capability request indication field corresponding to the side link is added to the second information unit of the capability request message.

[0086] In this embodiment of the disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink. The capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The first terminal can initiate the RequestCapabilities message to the second terminal as a target device or positioning server in the LPP protocol, wherein the second terminal can receive the capability request message as a positioning server or target device in the LPP protocol.

[0087] The second information unit is a component in the capability request message used to request the receiving device to provide supported positioning capabilities. That is, the second information unit can be an existing information unit in the capability request message. The first terminal requests the second terminal to provide positioning capabilities corresponding to the lateral link by adding this capability request indication field to the second information unit.

[0088] For example, the second information unit is a capability request message used to request the positioning server to provide whether it supports the positioning capability of determining the measurement result based on the time difference of downlink positioning signals arriving at the terminal. If the capability request indication field is added to the second information unit, the second terminal in the side link can be requested through the capability request field to provide whether the second terminal supports the positioning capability of determining the measurement result of the second terminal based on the time difference of multiple positioning signals arriving at the second terminal.

[0089] In step 502, the capability request message including the indication field is sent to the second terminal.

[0090] In step 503, in response to receiving the capability provision message returned by the second terminal, a positioning assistance information request message is sent to the second terminal based on the positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal.

[0091] In this embodiment, after receiving the capability request message sent by the first terminal, the second terminal returns a ProvideCapabilities message to the first terminal. This capability provision message may include positioning capability information indicating the positioning capabilities supported by the second terminal. The first terminal may send a RequestAssistanceData message to the second terminal based on the positioning capability information corresponding to the second terminal. The positioning assistance information request message requests the second terminal to provide first positioning assistance information to assist the first terminal in determining the location information of the second terminal.

[0092] In step 504, in response to receiving a location assistance information provision message including the first location assistance information returned by the second terminal, a request location information message is sent to the second terminal.

[0093] In this embodiment of the disclosure, after receiving the location assistance information request message, the second terminal returns a ProvideAssistanceData message to the first terminal. Upon receiving this message, the first terminal can send a RequestLocationInformation message to the second terminal. This request location information message requests the second terminal to provide measurement results of its location information.

[0094] In step 505, in response to receiving a location information message from the second terminal including the measurement results, the location information of the second terminal is determined based on the first positioning assistance information and the measurement results.

[0095] In this embodiment of the disclosure, after receiving the request location information message, the second terminal returns a ProvideLocationInformation message to the first terminal. The first terminal can determine the location information of the second terminal based on the previously received first positioning assistance information and the measurement results included in the provide location information message. Specifically, the first terminal can determine the absolute position of the second terminal, such as the absolute GNSS coordinates of the second terminal. Alternatively, the first terminal can determine the relative position of the second terminal, such as the relative coordinates, relative distance, and relative angle of the second terminal relative to a reference point.

[0096] In the above embodiments, the first terminal can interact with the second terminal on the side link based on the LPP protocol to determine the location information of the second terminal. The LPP protocol has been enhanced to achieve the purpose of locating the terminal on the side link based on the LPP protocol.

[0097] In some optional embodiments, the positioning methods supported by the LPP protocol include at least one of the following:

[0098] The DL-TDOA (Downlink-Time Difference of Arrival) method can locate the terminal by measuring the time difference between the positioning signals sent by multiple transmitting units, such as TRPs (Transmission Reception Points), reaching the terminal.

[0099] UL-TDOA (Uplink-Time Difference of Arrival) method. The terminal can send positioning signals to multiple measurement units, such as TRPs, and the measurement units locate the terminal by calculating the time difference of arrival at each measurement unit.

[0100] In the Multi-RTT (Multi-Round Trip Time) method, the terminal and a measurement unit, such as a TRP, each measure the transmission and reception time difference of a reference signal sent by the other, and calculate the RTT between the terminal and the measurement unit based on this time difference. After obtaining the RTT of the terminal and multiple measurement units in this way, the terminal can be located.

[0101] In the UL-AOA (UpLink-Angle Of Arrival) method, the terminal sends a positioning signal to a measurement unit, which then measures the angle of arrival of that positioning signal. The terminal can be located by using the AOA between it and multiple measurement units.

[0102] In the DL-AOD (Downlink-Angle Of Departure) mode, the measurement unit sends positioning signal beams in all directions. The terminal measures and reports the signal quality of each beam, and the measurement unit determines the AOD based on the strength of the reported signal quality of each beam.

[0103] In the carrier phase method, the terminal measures the phase of the carrier of the positioning signal sent by multiple measurement units, and uses the phase difference to locate the terminals.

[0104] In addition, the LPP protocol also supports A-GNSS (Assisted-GNSS), Bluetooth, TBS (Terrestrial Beacon System), WiFi (Wireless Fidelity), and sensor positioning methods.

[0105] It should be noted that when the LPP protocol is applied to the positioning of terminals in the side link in the embodiments of this disclosure, in addition to supporting the existing positioning methods of the LPP protocol mentioned above, other positioning methods of the side link can also be supported.

[0106] In this embodiment of the disclosure, the capability request message may request the second terminal to provide additional positioning capabilities besides the positioning capabilities described above, including but not limited to at least one of the following:

[0107] (1) Whether the second terminal supports a first positioning capability to locate the second terminal based on at least one round-trip time (RTT) between at least one first terminal and the second terminal.

[0108] The first positioning capabilities include Sidelink RTT (sidelink round-trip time), Sidelink singlesided RTT (sidelink single-sided round-trip time), Sidelink double-sided RTT (sidelink double-sided round-trip time), and Sidelink multi-RTT (sidelink multi-RTT).

[0109] The main difference between RTT and multi-RTT is that RTT only measures the round-trip time between one first terminal and one second terminal, i.e., it only measures the round-trip time between two terminals. Multi-RTT, on the other hand, measures the round-trip time between multiple first terminals and one second terminal. In this disclosure, SL RTT will be used to refer to RTT and Multi-RTT. Furthermore, in the embodiments of this disclosure, RTT also includes sidelink unilateral RTT and sidelink bilateral RTT. Sidelink unilateral RTT refers to measuring the round-trip time of the positioning signal with the first terminal or the second terminal as a reference, while sidelink bilateral RTT refers to measuring the round-trip time of the positioning signal with the first terminal and the second terminal as references respectively.

[0110] (2) Whether the second terminal supports a second positioning capability based on at least one angle of arrival to locate the second terminal.

[0111] The second positioning capability includes Sidelink AOA and UL-AOA. In this embodiment, each terminal can refer to the signals it sends to other terminals as uplink signals and the signals it receives from other terminals as downlink signals. Sidelink AOA can refer to the angle of arrival when a positioning signal sent by a second terminal to a first terminal reaches the first terminal, and UL-AOA can refer to the angle of arrival when positioning signals sent by a second terminal to multiple first terminals reach the first terminals respectively. In this embodiment, Sidelink AOA and UL-AOA will be referred to as SL AOA thereafter.

[0112] (3) Whether the second terminal supports a third positioning capability based on at least one transmission angle to locate the second terminal.

[0113] The third positioning capability includes Sidelink AOD and DL-AOD. Sidelink AOD refers to the transmission angle of positioning signals sent by a first terminal to a second terminal in different directions, while DL-AOD refers to the transmission angle of positioning signals sent by multiple first terminals to a second terminal in at least one direction. Hereafter, SL AOD will be used to refer to Sidelink AOD and DL-AOD.

[0114] (4) Whether the second terminal supports a fourth positioning capability to locate the second terminal based on the carrier phase of the positioning signal sent by the first terminal.

[0115] The fourth positioning capability includes Sidelink carrier phase and Sidelink multi-carrier phase. Carrier phase refers to measuring the carrier phase between a first terminal and a second terminal, while multi-carrier phase measures the carrier phase between multiple first terminals and a second terminal. Hereafter, SL carrier phase will be used to refer to both Sidelink carrier phase and Sidelink multi-carrier phase, and also to both uplink and downlink carrier phase.

[0116] (5) Whether the second terminal supports a fifth positioning capability that locates the second terminal based on the time difference between the arrival of positioning signals sent by multiple first terminals to multiple second terminals.

[0117] The fifth positioning capability can be represented by SL DL-TDOA.

[0118] (6) Whether the second terminal supports a sixth positioning capability to locate the second terminal based on the time difference between the arrival of the positioning signal sent by the second terminal to multiple first terminals.

[0119] The sixth positioning capability can be represented by SL UL-TDOA.

[0120] (7) Whether the second terminal supports the seventh positioning capability of positioning the second terminal based on the target positioning method in the side link.

[0121] The target positioning method includes at least one of the following: assisted global navigation satellite system positioning method, Bluetooth positioning method, ground beacon system positioning method, wireless fidelity positioning method, and sensor positioning method.

[0122] The above is merely an illustrative example. When a first terminal supporting the LPP protocol sends a capability request message to a second terminal supporting the LPP protocol, the positioning capabilities supported by the second terminal requested in the capability request message should all fall within the protection scope of this disclosure.

[0123] In the above embodiments, the second terminal in the side link can support at least one of the above positioning capabilities, thereby achieving the purpose of one terminal obtaining the positioning capability supported by another terminal through signaling between terminals on the side link, resulting in high availability.

[0124] In some optional embodiments, the capability provision message returned by the second terminal may provide location capability information on whether the second terminal supports positioning using at least one of the following: A-GNSS, BT positioning, TBS positioning, WiFi positioning, sensor positioning, UL-TDOA, DL-TDOA, AOA, AOD, and Multi-RTT.

[0125] In addition, in this embodiment of the present disclosure, when the capability request message is used to request the second terminal to provide the seventh positioning capability, the positioning capability information corresponding to the seventh positioning capability in the capability provision message returned by the second terminal can be used to indicate whether the second terminal supports transmitting the first positioning assistance information determined by the target positioning method through the side link.

[0126] In one possible implementation, the positioning capability information includes sidelink A-GNSS information to indicate whether the second terminal supports the transmission of A-GNSS auxiliary information via the sidelink. The A-GNSS auxiliary information includes, but is not limited to, at least one of the following: ephemeris information, RTK (Real-time kinematic) information, etc.

[0127] In another possible implementation, the positioning capability information includes SL WiFi information, which is used to indicate whether the second terminal supports the transmission of WiFi-assisted information through the side link. The WiFi-assisted information includes, but is not limited to, AP ID (Access Point ID), AP location information, etc.

[0128] In another possible implementation, the positioning capability information includes SL TBS information, which is used to indicate whether the second terminal supports the transmission of TBS auxiliary information through the side link. The TBS auxiliary information includes, but is not limited to, MBS transmitter ID, MBS transmitter location information, etc.

[0129] In another possible implementation, the positioning capability information includes SL sensor information to indicate whether the second terminal supports the transmission of sensor-assisted information via the side link. The sensor-assisted information includes, but is not limited to, reference point location, air pressure, temperature, etc.

[0130] In some optional embodiments, the positioning capability information corresponding to SL RTT in the capability provision message includes at least one of the following: positioning signal capability information corresponding to SL RTT positioning capability; and positioning measurement capability information corresponding to SL RTT positioning capability.

[0131] Specifically, the positioning signal capability information corresponding to the SL RTT positioning capability includes at least one of the following: first RTT capability information corresponding to the positioning reference signal transmitted by the second terminal; and second RTT capability information corresponding to the positioning reference signal received by the second terminal.

[0132] The first RTT capability information includes at least one of the following: first capability information of the second terminal in each side-link frequency band; and second capability information of the second terminal in each side-link carrier aggregation combination. Specifically, the first capability information may include a list of bandwidths supported by the second terminal in each side-link frequency band, and the second capability information may include the maximum number of configurable positioning reference signal resources supported by the second terminal in each bandwidth portion (BWP).

[0133] The second RTT capability information includes at least one of the following: side-link frequency band information supported by the second terminal; side-link frequency band combination information supported by the second terminal. The side-link frequency band information supported by the second terminal includes at least one of the following: the maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; the list of bandwidths supported by the second terminal on each side-link frequency band.

[0134] The positioning measurement capability information corresponding to the SL RTT positioning capability includes at least one of the following: the maximum number of receive-transmit time difference measurements supported by the second terminal in each side walkway frequency range; and whether the second terminal supports measuring RSRP (Reference Signal Receiving Power) in each side walkway frequency band. Currently, there are two side walkway FRs (Frequency Ranges), namely FR1 and FR2.

[0135] In some optional embodiments, the positioning capability information corresponding to SL AOA in the capability provision message includes at least one of the following: positioning signal capability information corresponding to the SL AOA positioning capability; and positioning measurement capability information corresponding to the SL AOA positioning capability. Additionally, the positioning capability information corresponding to SL AOA in the capability provision message also includes first antenna capability information corresponding to the SL AOA positioning capability.

[0136] Specifically, the positioning signal capability information corresponding to the SL AOA positioning capability includes at least one of the following: side-link frequency band information supported by the second terminal; and side-link frequency band combination information supported by the second terminal. The side-link frequency band information supported by the second terminal includes at least one of the following: the maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; and the bandwidth list supported by the second terminal on each side-link frequency band.

[0137] The positioning measurement capability information corresponding to the SL AOA positioning capability includes at least one of the following: the maximum number of angle-of-arrival measurements supported by the second terminal in each side-link frequency range; a first frequency band list for indicating the angle-of-arrival measurement capability; wherein, in each side-link frequency band of the first frequency band list, it indicates whether the second terminal supports simultaneous measurement of the angle of arrival and at least one first measurement. In this embodiment of the disclosure, the first measurement is a measurement different from the angle of arrival, including but not limited to SL DL-TDOA, SL Multi-RTT, SL RTT, SL carrier phase, etc.

[0138] The first antenna capability information is used to indicate the number of receiving antennas of the second terminal.

[0139] In some optional embodiments, the positioning capability information corresponding to SL AOD in the capability provision message includes at least one of the following: positioning signal capability information corresponding to SL AOD positioning capability; and positioning measurement capability information corresponding to SL AOD positioning capability. Additionally, the positioning capability information corresponding to SL AOD in the capability provision message also includes second-line capability information corresponding to SL AOD positioning capability.

[0140] Specifically, the positioning signal capability information corresponding to the SL AOD positioning capability includes at least one of the following: side-link frequency band information supported by the second terminal; and side-link frequency band combination information supported by the second terminal. The side-link frequency band information supported by the second terminal includes at least one of the following: the maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; and the bandwidth list supported by the second terminal on each side-link frequency band.

[0141] The positioning measurement capability information corresponding to the SL AOD positioning capability includes, but is not limited to, at least one of the following: the maximum number of positioning signal RSRP measurements supported by the second terminal in each side walkway frequency range; a second frequency band list for indicating the transmission angle measurement capability; wherein, in each side walkway frequency band of the second frequency band list, it indicates whether the second terminal supports simultaneous measurement of transmission angle and at least one second measurement; and whether the second terminal supports RSRP measurement in at least one side walkway frequency range.

[0142] In this embodiment of the disclosure, the side link frequency range includes FR1 and FR2. The second measurement quantity is a measurement quantity different from the transmission angle, including but not limited to at least one of the following: SL DL-TDOA, SL Multi-RTT, SL RTT, SL carrier phase, etc. Whether the second terminal supports RSRP measurement in at least one side link frequency range can be specifically defined as whether the second terminal supports RSRP measurement on FR2.

[0143] The second antenna capability information is used to indicate the number of transmit antennas of the second terminal.

[0144] In some optional embodiments, the positioning capability information corresponding to SL DL-TDOA in the capability provision message includes at least one of the following: positioning signal capability information corresponding to SL DL-TDOA positioning capability; and positioning measurement capability information corresponding to SL DL-TDOA positioning capability.

[0145] Specifically, the positioning signal capability information corresponding to the SL DL-TDOA positioning capability includes at least one of the following: side-link frequency band information supported by the second terminal; and side-link frequency band combination information supported by the second terminal. The side-link frequency band information supported by the second terminal includes at least one of the following: the maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; and the bandwidth list supported by the second terminal on each side-link frequency band.

[0146] The positioning measurement capability information corresponding to the SL DL-TDOA positioning capability includes at least one of the following: the maximum number of Reference Signal Time Difference (RTSD) measurements supported by the second terminal in each side-link frequency range; and whether the second terminal supports RSRP measurement in each side-link frequency range. The side-link frequency ranges may include FR1 and FR2.

[0147] In some optional embodiments, the positioning capability information corresponding to SL UL-TDOA in the capability provision message includes at least one of the following: positioning signal capability information corresponding to SL UL-TDOA positioning capability; and positioning measurement capability information corresponding to SL UL-TDOA positioning capability.

[0148] The positioning signal capability information corresponding to the SL UL-TDOA positioning capability includes at least one of the following: third capability information of the side-link frequency bands supported by the second terminal; and fourth capability information on the side-link carrier aggregation combination supported by the second terminal. The third capability information includes: a list of bandwidths supported by the second terminal on each side-link frequency band; and the fourth capability information includes: the maximum number of configurable positioning reference signal resources supported by the second terminal on each BWP (Bandwidth Part).

[0149] In some optional embodiments, the positioning capability information corresponding to the SL carrier phase in the capability provision message includes at least one of the following: positioning signal capability information corresponding to the SL carrier phase positioning capability; and positioning measurement capability information corresponding to the SL carrier phase positioning capability.

[0150] Specifically, the positioning signal capability information corresponding to the SL carrier phase positioning capability may include at least one of the following: side-link frequency band information supported by the second terminal; and side-link frequency band combination information supported by the second terminal. The side-link frequency band information supported by the second terminal includes at least one of the following: the maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; and the bandwidth list supported by the second terminal on each side-link frequency band.

[0151] The positioning measurement capability information corresponding to the SL carrier phase positioning capability may include at least one of the following: the maximum number of carrier phase measurements supported by the second terminal in each side-link frequency range; a third frequency band list for indicating carrier phase measurement capability; wherein, in each side-link frequency band of the third frequency band list, it indicates whether the second terminal supports simultaneous measurement of carrier phase and at least one third measurement. Here, the third measurement is a measurement different from the carrier phase, including but not limited to at least one of the following: SL DL-TDOA, SL Multi-RTT, SLRTT, SL AOD, SL AOA.

[0152] In the above embodiments, the capability provision message may include a variety of newly added positioning capability information, which realizes the purpose of exchanging positioning capability information between terminals on the side link and has high availability.

[0153] In some alternative embodiments, the first terminal, acting as the location initiator, can send a location assistance information request message to the second terminal based on the location capability information in the capability provision message returned by the second terminal.

[0154] In the case where the capability request message is used to request the second terminal to provide the seventh positioning capability, the information content included in the positioning assistance information request message sent by the first terminal may be the same as the information content in related technologies.

[0155] For example, when the capability request message is used to request the second terminal to provide A-GNSS positioning capability, the information content included in the positioning assistance information request message for requesting SL A-GNSS assistance information is the same as that in the relevant standards for GNSS-CommonAssistDataReq (GNSS Common Assist Data Req), GNSS-GenericAssistDataReq (GNSS Generic Assist Data Req), and GNSS-PeriodicAssistDataReq (GNSS Periodic Assist Data Req), and will not be described again here.

[0156] When the capability request message is used to request the second terminal to provide WiFi positioning capability, the information content included in the positioning assistance information request message for requesting SL WiFi assistance information is the same as requestedAD (request address), visibleAPs (available access points), and wlan-AP-StoredData (wireless LAN access point stored data) in the relevant standards, and will not be described again here.

[0157] When the capability request message is used to request the second terminal to provide TBS positioning capability, the information content included in the positioning assistance information request message for requesting SL TBS assistance information is the same as that in the relevant standards mbs-AlmanacAssistanceDataReq (mobile station ephemeris assistance information request) and mbs-AcquisitionAssistanceDataReq (mobile station acquisition assistance information request), and will not be described again here.

[0158] When a capability request message is used to request the second terminal to provide at least one of the first to sixth positioning capabilities, a positioning assistance information request message sent by the first terminal is at least used to request the second terminal to provide the information type of the first positioning assistance information.

[0159] The information type of the first positioning assistance information includes any of the following: positioning signal assistance information, position calculation assistance information, side link synchronization signal block configuration information, and error assistance information.

[0160] In the case where the capability request message is used to request the second terminal to provide the first positioning capability, the positioning assistance information request message sent by the first terminal, at least for requesting the second terminal to provide the first positioning assistance information, may include downlink positioning signal assistance information, uplink positioning signal assistance information, location calculation assistance information, sidelink synchronization signal block configuration information, and error assistance information. When the capability request message is used to request the second terminal to provide the second, third, fourth, or fifth positioning capability, the information type of the first positioning assistance information includes any one of the following: positioning signal assistance information, location calculation assistance information, sidelink synchronization signal block configuration information, and error assistance information.

[0161] In the above embodiments, the first terminal can act as a positioning initiator to send a positioning assistance information request message to the second terminal. This request message can at least request the second terminal to provide the type of information for the first positioning assistance information, so as to assist the first terminal in determining the location information of the second terminal. This achieves the purpose of locating the terminal based on inter-terminal interaction on the sidelink. In some optional embodiments, the second terminal, acting as a positioning server or target device, can send a positioning assistance information provision message to the first terminal. This message includes the first positioning assistance information requested by the first terminal.

[0162] Specifically, for SL A-GNSS, SL wifi, SL TBS, SL sensor, etc., the auxiliary information content can be the same as that of A-GNSS, wifi, TBS, and sensor in the relevant standard TS37.355 Provide Assistance Data, which will not be elaborated here.

[0163] The first positioning assistance information corresponding to the SL RTT positioning capability includes at least one of the following: positioning signal assistance information corresponding to SL RTT; position calculation assistance information corresponding to SL RTT; side link synchronization signal block configuration information corresponding to SL RTT; and error type assistance information corresponding to SL RTT.

[0164] Specifically, when providing positioning signal assistance information corresponding to SL RTT, the second terminal may use any of the following methods.

[0165] The first approach provides auxiliary information for positioning signals based on the frequency range of each side link.

[0166] Accordingly, the positioning assistance information provided in the positioning assistance information message is the first positioning signal assistance information used to instruct the second terminal to provide positioning signals based on each side link frequency range.

[0167] The first positioning signal auxiliary information may include at least one of the following: positioning signal identifier; ARFCN (Absolute Radio Frequency Channel Number) value corresponding to the reference point of the positioning signal; starting PRB (Physical Resource Block) position information of the positioning signal relative to the reference point; subcarrier spacing information of the positioning signal; bandwidth information of the positioning signal; comb factor information of the positioning signal; and cyclic prefix information of the positioning signal.

[0168] In this context, the reference point of the positioning signal refers to point A, which is the reference point defined in NR (New Radio). The comb factor refers to the comb size, which can be a preset value according to the protocol.

[0169] The second approach provides auxiliary information for positioning signals based on each BWP within each side link frequency range.

[0170] Accordingly, the positioning assistance information provided in the positioning assistance information message is a second positioning signal assistance information used to instruct the second terminal to provide a positioning signal based on each BWP in each side link frequency range.

[0171] The second positioning signal auxiliary information includes at least one of the following: side walkway BWP configuration information; side walkway BWP resource pool configuration information.

[0172] The sidelink BWP configuration information includes at least one of the following: the location and bandwidth of the sidelink BWP, the subcarrier spacing and the cyclic prefix; the length symbol information of the sidelink BWP; the start symbol information of the sidelink BWP; the sidelink physical broadcast channel (PBSCH) configuration information of the sidelink BWP; and the DC component parameter information of the sidelink BWP.

[0173] The sidelink BWP resource pool configuration information may include SL BWP receive resource pool configuration information and SL BWP send resource pool configuration information.

[0174] The information content of the resource pool configuration information sent by the SL BWP is basically similar to the information content of the resource pool configuration information received by the SL BWP. In this embodiment, the SL BWP receiving the resource pool configuration information is used as an example for explanation.

[0175] In one possible implementation, the SL BWP receives resource pool configuration information that can be reused in the sidelink resource pool information unit.

[0176] In another possible implementation, the SL BWP receiving resource pool configuration information can be used to configure a designated resource pool for the positioning reference signal, that is, to configure a newly defined dedicated resource pool for the reference signal.

[0177] The SL BWP receives resource pool configuration information to configure at least one of the following for the designated resource pool of the positioning reference signal: starting resource block location information; number of resource blocks; comb factor size; subchannel size and subchannel data; side link time domain resource information; measurement power control information; area configuration information; side link preemption enable information; and side link terminal optional configuration information.

[0178] The temporal resource information of the sidelink can be configured using a bitmap. Optional configuration information for the sidelink terminal includes, but is not limited to, at least one of the following: sensing window, selectionWindowList, and ResourceReservePeriodList.

[0179] The location calculation auxiliary information corresponding to SL RTT may include, but is not limited to, at least one of the following: the location coordinates of the second terminal; the reference time information of the second terminal; wherein the reference time information includes at least one of the following: reference signal identifier, ARFCN value, system frame number, world time; and the antenna information of the second terminal; wherein the antenna information includes at least one of the following: number of antennas and antenna shape.

[0180] The antenna shape indicates the antenna configuration. A linear antenna configuration includes the antenna spacing length. A circular antenna configuration includes the radius of the circle. A rectangular antenna configuration includes the length and width of the rectangle. A square antenna configuration includes the side length of the square.

[0181] The SL SSB (Synchronization Signal and PBCH block) configuration information corresponding to SL RTT is used to configure at least one of the following: SL-SSID (Synchronization Signal Identifier); ARFCN value; SL-SSID (Synchronization Signal Block Power); PBCH (Synchronization Signal Block Subcarrier Spacing); Half-frame index; offset of the first synchronization signal within the SL-SSID period relative to the start position of the PBCH period; and time interval between two adjacent PBCH blocks within the PBCH period.

[0182] The ARFCN value is the frequency point value.

[0183] In this embodiment, there is no need to configure the SSB period information because the SSB supports a fixed period of 160 milliseconds. Additionally, there is no need to configure the system frame number offset for the SL SSB, as this parameter does not exist in the sidelink.

[0184] The error type assistance information corresponding to SL RTT includes any of the following: assistance information is not supported; assistance information is supported but unavailable; no positioning signal configuration or unavailable; other undefined error information. Here, "no positioning signal configuration" can refer to the absence of configured positioning signal resources, etc.

[0185] The first positioning assistance information corresponding to the SL AOA positioning capability includes at least one of the following: positioning signal assistance information corresponding to SL AOA; position calculation assistance information corresponding to SL AOA; side link synchronization signal block configuration information corresponding to SL AOA; and error type assistance information corresponding to SL AOA. The specific content of the first positioning assistance information corresponding to the SL AOA positioning capability and the specific content of the first positioning assistance information corresponding to the SL RTT positioning capability are similar and will not be repeated here.

[0186] The first positioning assistance information corresponding to the SL AOD positioning capability includes at least one of the following: positioning signal assistance information corresponding to the SL AOD; position calculation assistance information corresponding to the SL AOD; side link synchronization signal block configuration information corresponding to the SL AOD; and error type assistance information corresponding to the SL AOD. The specific information content of the first positioning assistance information corresponding to the SL AOD positioning capability and the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability are similar and will not be repeated here.

[0187] The first positioning assistance information corresponding to the SL DL-TDOA positioning capability includes at least one of the following: positioning signal assistance information corresponding to SL DL-TDOA; position calculation assistance information corresponding to SL DL-TDOA; side link synchronization signal block configuration information corresponding to SL DL-TDOA; and error type assistance information corresponding to SL DL-TDOA. The specific information content of the first positioning assistance information corresponding to the SL DL-TDOA positioning capability and the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability are similar and will not be repeated here.

[0188] The first positioning assistance information corresponding to the SL UL-TDOA positioning capability includes at least one of the following: positioning signal assistance information corresponding to SL UL-TDOA; position calculation assistance information corresponding to SL UL-TDOA; side link synchronization signal block configuration information corresponding to SL UL-TDOA; and error type assistance information corresponding to SL UL-TDOA. The specific information content of the first positioning assistance information corresponding to the SL UL-TDOA positioning capability and the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability are similar and will not be repeated here.

[0189] The first positioning assistance information corresponding to the SL carrier phase positioning capability includes at least one of the following: positioning signal assistance information corresponding to the SL carrier phase; position calculation assistance information corresponding to the SL carrier phase; side link synchronization signal block configuration information corresponding to the SL carrier phase; and error type assistance information corresponding to the SL carrier phase. The specific information content of the first positioning assistance information corresponding to the SL carrier phase positioning capability and the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability are similar and will not be repeated here.

[0190] In the above embodiments, the second terminal can return a positioning assistance information message to the first terminal to assist the first terminal in determining the location information of the second terminal, thereby achieving the purpose of locating the terminal based on the LPP protocol on the side link.

[0191] In some optional embodiments, the first terminal may proactively send a positioning assistance information provision message, including second positioning assistance information, to the second terminal to assist the second terminal in determining its own location information. The content of the second positioning assistance information is similar to that of the first positioning assistance information, and will not be described again here.

[0192] In some alternative embodiments, the first terminal, as the target device initiating the location, sends a request for location information message to the second terminal.

[0193] The location information request message may include, but is not limited to, at least one of the following: a first common information unit corresponding to any positioning capability; a first designated information unit for requesting measurement results of the location information of the second terminal based on different positioning capabilities. Specifically, the first common information unit includes at least one of the following: location information type; triggering reporting conditions for triggering the reporting of measurement results; periodic reporting conditions for periodically reporting measurement results; environmental information for indicating the sidelink environment between the second terminal and the first terminal; and quality of service information.

[0194] The location information type includes, but is not limited to, at least one of the following: locationEstimateRequired, locationMeasurementsRequired, locationEstimatePreferred, and locationMeasurementsPreferred.

[0195] The triggering conditions for reporting measurement results may include, but are not limited to, at least one of the following: the change in SL distance and / or RTT exceeds the corresponding first threshold; the change in SL relative position (which can distinguish the horizontal and / or vertical relative positions between the first and second terminals) exceeds the corresponding second threshold; the change in SL angle (which can distinguish the horizontal and / or vertical angles) exceeds the corresponding third threshold; the change in the speed of the second terminal on the side link (which can distinguish the horizontal and / or vertical speeds) exceeds the corresponding fourth threshold; and the change in SL positioning signal RSRP exceeds the corresponding fifth threshold.

[0196] Periodic reporting conditions may include, but are not limited to, at least one of the following: reporting quantity and reporting interval.

[0197] Environmental information can indicate any of the following: BadArea (area with a bad environment), NotBadArea (area with a good environment), MixedArea (area with a mixed environment).

[0198] Quality of service information may include, but is not limited to, at least one of the following: horizontal accuracy; whether vertical coordinates are required; vertical coordinate accuracy; ResponseTime; velocityRequest; distance accuracy information indicating the distance between the second terminal and the first terminal; horizontal angle accuracy information indicating the distance between the second terminal and the first terminal; indication information indicating whether vertical angles are required; and vertical angle accuracy information indicating the distance between the second terminal and the first terminal.

[0199] The information content of the first designated information unit used to request measurement results corresponding to the positioning capabilities of SL A-GNSS, SL wifi, SL TBS, and SL sensor is the same as the information content of the information unit used to request measurement results corresponding to the positioning capabilities of A-GNSS, wifi, TBS, and sensor in related technologies, and will not be repeated here.

[0200] The first designated information unit used to request measurement results corresponding to the SL RTT positioning capability can be used to request at least one of the following: SL Rx-Tx time difference measurement; positioning signal RSRP; availability of auxiliary information; maximum number of SL Rx-Tx time difference measurements; and time granularity factor for reporting the transmission and reception time difference.

[0201] The availability of auxiliary information indicates whether additional location signal auxiliary information can be requested. Here, additional location signal auxiliary information refers to location signal auxiliary information other than that already requested by the terminal. The timingReportingGranularityFactor (TRGF) for transmitting and receiving time difference reports indicates the reporting interval.

[0202] The first designated information unit used to request measurement results corresponding to the SL AOA positioning capability can be used to request the availability of auxiliary information, which indicates whether additional positioning signal auxiliary information can be requested. Here, additional positioning signal auxiliary information refers to positioning signal auxiliary information other than that already requested by the terminal.

[0203] The first designated information unit used to request measurement results corresponding to the SL AOD positioning capability can be used to request at least one of the following: availability of auxiliary information; maximum number of positioning signal RSRP measurements. Auxiliary information availability indicates whether additional positioning signal auxiliary information can be requested.

[0204] The first designated information unit for requesting measurement results corresponding to the SL DL-TDOA positioning capability can calculate the position without supporting the transmission of measurement results to the peer. Additionally, the first designated information unit for the measurement results corresponding to the SL DL-TDOA positioning capability can be used to request the availability of auxiliary information, which indicates whether additional positioning signal auxiliary information can be requested.

[0205] The information content requested by the first designated information unit for requesting measurement results corresponding to the SL UL-TDOA positioning capability is the same as the information content requested by the first designated information unit for requesting measurement results corresponding to the SL RTT positioning capability, and will not be repeated here.

[0206] The first designated information unit for requesting measurement results corresponding to the SL carrier phase positioning capability requests at least one of the following: side-going carrier phase measurement; positioning signal RSRP; availability of auxiliary information; maximum number of side-going carrier phase measurements; and time granularity factor for reporting side-going carrier phase measurements. The positioning signal RSRP is the measurement requested from the second terminal.

[0207] In the above embodiments, the first terminal can send a location information request message to the second terminal, requesting the second terminal to determine its own location information, thereby achieving the purpose of locating the terminal based on the LPP protocol on the side link.

[0208] In some alternative embodiments, the second terminal, acting as a positioning server, can send a message providing location information to the first terminal, which is then received by the first terminal via a side link.

[0209] The location information message includes at least one of the following: a second common information unit corresponding to any positioning capability; and a second designated information unit for providing measurement results of the location information of the second terminal based on different positioning capabilities. Specifically, the second common information unit may include, but is not limited to, at least one of the following: location coordinate information obtained by estimating the location of the second terminal; velocity information obtained by estimating the velocity of the second terminal; location error information indicating the reason for positioning failure; and location source information indicating the positioning capability used when determining the measurement result.

[0210] The location coordinates can be geographic coordinates. Velocity estimation can include, but is not limited to, the horizontal velocity, vertical velocity, and uncertainty of the first terminal. Location error information can be used to indicate the reason for positioning failure. Location information includes, but is not limited to, at least one of the following: A-GNSS, WLAN, BT, TBS, sensor, DL-TDOA, DL-AOD, motion-sensor, and, in addition, SL carrier phase, SL RTT, SL UL-AOA, SL multi-RTT, SL UL-TDOA, etc.

[0211] The information content of the second designated information unit used to provide measurement results corresponding to the positioning capabilities of SL A-GNSS, SL wifi, SL TBS, and SL sensor is the same as the information content of the information unit used to provide measurement results corresponding to the positioning capabilities of A-GNSS, wifi, TBS, and sensor in related technologies, and will not be repeated here.

[0212] In this embodiment of the disclosure, the second designated information unit for providing measurement results corresponding to the SL RTT positioning capability includes at least one of positioning measurement information and positioning measurement error information.

[0213] The SL RTT positioning measurement information includes at least one of the following: sidelink positioning signal identification information; sidelink synchronization signal identification information; layer 2 identification information of the second terminal; ARFCN value; timestamp; other additional measurements corresponding to the SL RTT positioning capability; positioning signal RSRP result; sidelink timing quality; and a path list indicating at least one of the measurements and timing quality of other additional paths. Here, layer 2 refers to layer 2, which is generally the data link layer.

[0214] SL RTT positioning measurement error messages indicate at least one of the following: server error; undefined error; missing auxiliary information; inability to measure; missing location calculation auxiliary information; missing, changed, or invalid positioning signal configuration; inability to send positioning signal.

[0215] The sidelink positioning signal identification information includes at least one of the following: sidelink positioning signal resource set identification information; sidelink positioning signal resource identification; sidelink positioning signal identification. Other additional measurements corresponding to SL RTT positioning capability include the transmit-receive time difference. Sidelink timing quality may include uncertainty or resolution.

[0216] In this embodiment of the disclosure, a second designated information unit for providing measurement results corresponding to the SL AOA positioning capability may not be provided.

[0217] In this embodiment of the disclosure, the second designated information unit for providing measurement results corresponding to the SL AOD positioning capability includes at least one of SL AOD positioning measurement information and SL AOD positioning measurement error information. The second designated information unit may also include AOD location information, and may further include a valid SL timestamp or UTC (Universal Time Coordinated) corresponding to the AOD location information.

[0218] Specifically, the SL AOD positioning measurement information includes at least one of the following: side link positioning signal identification information; side link synchronization signal identification information; layer 2 identification information of the second terminal; ARFCN value; timestamp; positioning signal RSRP result; and other additional measurements.

[0219] The lateral link positioning signal identification information includes at least one of the following: lateral link positioning signal resource set identification information; lateral link positioning signal resource identification; lateral link positioning signal identification. Other additional measurements include, but are not limited to, at least one of the following: positioning signal resource and resource set identification, timestamp, difference between the additional positioning signal RSRP measurement value and the positioning signal RSRP, and positioning signal receiving beam identification.

[0220] The SL AOD positioning measurement error message indicates at least one of the following: server error; undefined error; missing auxiliary information; inability to measure; missing location calculation auxiliary information; missing, changed, or invalid positioning signal configuration; inability to send positioning signal.

[0221] In this embodiment of the disclosure, an information unit for providing measurement results corresponding to the SL DL-TDOA positioning capability may not be provided. If it is necessary to send the measurement results corresponding to the SL DL-TDOA positioning capability to the LMF (Location Management Function) device, the information content of this information unit is the same as the information content of the second designated information unit for providing measurement results corresponding to the SL DL-TDOA positioning capability, and will not be described again here.

[0222] In this embodiment of the disclosure, the second designated information unit for providing measurement results corresponding to the SL UL-TDOA positioning capability includes at least one of SL UL-TDOA positioning signal measurement information and SL UL-TDOA positioning signal measurement error information.

[0223] The SL UL-TDOA positioning signal measurement information includes at least one of the following: lateral traverse reference positioning signal identification information. The lateral traverse reference positioning signal identification information includes at least one of the following: lateral traverse reference positioning signal resource set identification information; lateral traverse reference positioning signal resource identification; lateral traverse reference positioning signal identification.

[0224] SL UL-TDOA positioning signal measurement error messages include at least one of the following: server error; undefined error; missing auxiliary information; unable to measure; missing location calculation auxiliary information; missing, changed, or invalid positioning signal configuration; unable to send positioning signal.

[0225] Additionally, the second designated information unit for providing measurement results corresponding to the SL UL-TDOA positioning capability may also include measurement results corresponding to the SL UL-TDOA positioning capability, which may include, but are not limited to, at least one of the following: sidelink positioning signal identification information; sidelink synchronization signal identification information; layer 2 identification information of the second terminal; ARFCN value; timestamp; RTOA measurement value; positioning signal RSRP result; sidelink timing quality; and a path list for indicating at least one of the measurement values ​​and timing quality of other additional paths.

[0226] The side-link positioning signal identification information includes, but is not limited to, at least one of the following: positioning signal resource set identifier, positioning signal resource identifier, and positioning signal identifier. The RTOA measurement value refers to the measurement value corresponding to the SL UL-TDOA positioning capability, which is the relative duration of the start time of the received positioning signal compared to a pre-set reference time point.

[0227] In this embodiment of the disclosure, the second designated information unit for providing measurement results corresponding to the SL carrier phase positioning capability includes at least one of SL carrier phase positioning signal measurement information and SL carrier phase positioning signal measurement error information.

[0228] Among them, the SL carrier phase positioning signal measurement information includes reference positioning signal identification information.

[0229] The side-link reference positioning signal identification information includes, but is not limited to, at least one of the following: reference positioning signal resource set identifier, reference positioning signal resource identifier, and reference positioning signal identifier.

[0230] Error messages in SL carrier phase positioning signal measurement include at least one of the following: server error; undefined error; missing auxiliary information; unable to measure; missing location calculation auxiliary information; missing, changed, or invalid positioning signal configuration; unable to send positioning signal.

[0231] The second designated information unit for providing measurement results corresponding to the SL carrier phase positioning capability further includes measurement results corresponding to the SL carrier phase positioning capability, including but not limited to at least one of the following: sidelink positioning signal identification information; sidelink synchronization signal identification information; layer 2 identification information of the second terminal; ARFCN value; timestamp; carrier phase measurement value; positioning signal RSRP result; sidelink timing quality; and a path list for indicating at least one of the measurement values ​​and timing quality of other additional paths.

[0232] The side-link positioning signal identification information includes, but is not limited to, at least one of the following: positioning signal resource set identifier, positioning signal resource identifier, and positioning signal identifier.

[0233] In the above embodiments,

[0234] Next, we will introduce the positioning method provided in this disclosure from the perspective of the second terminal. The second terminal can be a terminal in Sidelink that supports the LPP protocol and acts as a positioning server or target device, which is different from the first terminal.

[0235] This disclosure provides a positioning method, referring to... Figure 6 As shown, Figure 6 This is a flowchart illustrating a positioning method according to an embodiment, which can be used in a second terminal. The method may include the following steps:

[0236] In step 601, in response to receiving a capability request message from the first terminal, a capability provision message is sent to the first terminal.

[0237] The first terminal is a terminal that communicates with the second terminal via a side link. The capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The capability provision message includes positioning capability information indicating the positioning capabilities supported by the second terminal.

[0238] In step 602, in response to receiving a positioning assistance information request message sent by the first terminal based on the positioning capability information, a positioning assistance information provision message including the first positioning assistance information is sent to the first terminal.

[0239] The positioning assistance information request message is used to request the second terminal to provide first positioning assistance information, which is used to assist the first terminal in determining the measurement results of positioning the second terminal.

[0240] In step 603, in response to receiving the request location information message sent by the first terminal, the second terminal is located based on the positioning capability supported by the second terminal, and the measurement result is determined.

[0241] The request location information message is used to request the second terminal to determine the measurement result.

[0242] In step 604, a location information message including the measurement results is sent to the first terminal.

[0243] In the above embodiments, terminal positioning can be performed between terminals based on the LPP protocol. The LPP protocol has been enhanced to achieve the purpose of positioning terminals based on the LPP protocol on the side link.

[0244] In some optional embodiments, the second terminal may also receive a positioning assistance information provision message, including second positioning assistance information, actively sent by the first terminal after sending a capability provision message to the first terminal; wherein, the second positioning assistance information is used to assist the second terminal in determining the location information of the second terminal. The specific implementation method is the same as... Figure 3 The implementation method shown is similar and will not be repeated here.

[0245] In some optional embodiments, the positioning capability requested by the capability request message received by the second terminal is the same as the positioning capability requested by the capability request message described by the first terminal, and will not be repeated here.

[0246] After receiving the capability request message, the second terminal can send a capability provision message to the first terminal. Wherein, if the capability request message requests the second terminal to provide the seventh positioning capability, the positioning capability information corresponding to the seventh positioning capability in the capability provision message is used to indicate whether the second terminal supports transmitting the first positioning assistance information determined by the target positioning method via the sidelink.

[0247] When the capability request message is used to request the second terminal to provide any positioning capability other than the seventh positioning capability, the positioning capability information corresponding to different positioning capabilities in the capability provision message includes at least one of the following: positioning signal capability information corresponding to different positioning capabilities; and positioning measurement capability information corresponding to different positioning capabilities. The specific information content of the positioning signal capability information and the positioning measurement capability information is the same as that of the positioning signal capability information and the positioning measurement capability information described on the first terminal side, and will not be repeated here.

[0248] Furthermore, after receiving the capability provision message sent by the second terminal, the first terminal will send a positioning assistance information request message to the second terminal based on the positioning capability information included in the capability provision message, which indicates the positioning capabilities supported by the second terminal. If the capability request message requests the second terminal to provide any positioning capability other than the seventh positioning capability, the positioning assistance information request message will at least request the second terminal to provide the information type of the first positioning assistance information. The information type of the first positioning assistance information includes any of the following: positioning signal assistance information, location calculation assistance information, sidelink synchronization signal block configuration information, and error type assistance information.

[0249] After receiving the aforementioned location assistance information request message, the second terminal can send a location assistance information provision message to the first terminal, providing the first location assistance information through the location assistance information provision message. The second terminal can provide the first location assistance information using any of the following methods.

[0250] In the first method, the second terminal sends first positioning assistance information, instructing the second terminal to provide positioning signals based on the frequency range of each side link.

[0251] The specific information content of the first positioning assistance information has already been introduced on the first terminal side, and will not be repeated here.

[0252] In the second method, the second terminal sends first positioning assistance information, instructing the second terminal to provide a positioning signal based on each BWP in each side link frequency range.

[0253] The specific information content of the first positioning assistance information has already been introduced on the first terminal side, and will not be repeated here.

[0254] Furthermore, after receiving the positioning assistance information provision message sent by the second terminal, the first terminal sends a location request message to the second terminal. The location request message includes at least one of the following: a first common information unit corresponding to any positioning capability; and a first specified information unit for requesting measurement results corresponding to different positioning capabilities.

[0255] The information content of the first public information unit and the first designated information unit has already been introduced on the first terminal side, and will not be repeated here.

[0256] After receiving the location request message, the second terminal, based on its own positioning capabilities, determines the measurement results of the first terminal and sends a location information provision message including the measurement results to the first terminal. The location information provision message includes at least one of the following: a second common information unit corresponding to any positioning capability; and a second specified information unit for providing measurement results corresponding to different positioning capabilities. The specific information content has also been described on the first terminal side and will not be repeated here.

[0257] In the above embodiments, terminal positioning can be performed between terminals based on the LPP protocol. The LPP protocol has been enhanced to achieve the purpose of positioning terminals based on the LPP protocol on the side link.

[0258] In some alternative embodiments, refer to Figure 7 As shown, Figure 7 This is a flowchart illustrating a positioning method according to an embodiment, which may include the following steps:

[0259] In step 701, the first terminal sends a capability request message to the second terminal.

[0260] The first terminal and the second terminal communicate via a side link. The capability request message is used to request the second terminal to provide the positioning capabilities it supports.

[0261] In step 702, the second terminal sends a capability provision message to the first terminal.

[0262] The capability provision message includes location capability information indicating the location capabilities supported by the second terminal.

[0263] In step 703, the first terminal sends a positioning assistance information request message to the second terminal based on the positioning capability information.

[0264] The location assistance information request message is used to request the second terminal to provide first location assistance information to assist the first terminal in determining the location information of the second terminal.

[0265] In step 704, the second terminal sends a positioning assistance information providing message, which includes the first positioning assistance information, to the first terminal.

[0266] In step 705, the first terminal sends a request for location information message to the second terminal.

[0267] The location information request message is used to request the second terminal to determine the measurement result of the measurement of the location information of the second terminal.

[0268] In step 706, the second terminal locates itself based on the positioning capabilities it supports, and determines the measurement result.

[0269] In step 707, the second terminal sends a location information message, including the measurement results, to the first terminal.

[0270] In step 708, the first terminal determines the location information of the second terminal based on the first positioning assistance information and the measurement result.

[0271] The location information determined by the first terminal can be the absolute location information of the second terminal or the relative location information of the second terminal relative to the reference point.

[0272] In the above embodiments, terminal positioning can be performed between terminals based on the LPP protocol. The LPP protocol has been enhanced to achieve the purpose of positioning terminals based on the LPP protocol on the side link.

[0273] It should be noted that in the sidelink, one of the two terminals can act as a device for the LPP protocol, such as the first terminal in the above embodiment, and the other can act as a positioning server for the LPP protocol, such as the second terminal in the above embodiment. Alternatively, both terminals can communicate as devices to achieve the purpose of locating the terminal based on the LPP protocol on the sidelink.

[0274] Of course, a single terminal can also function as both a device and a positioning server. This allows it to communicate with one or more other terminals simultaneously, enabling terminal positioning on the sidelink based on the LPP protocol.

[0275] Corresponding to the aforementioned embodiments of the application function implementation method, this disclosure also provides embodiments of the application function implementation apparatus.

[0276] Reference Figure 8 , Figure 8 This is a block diagram of a positioning device according to an exemplary embodiment, the device being applied to a first terminal, comprising:

[0277] The first sending module 801 is configured to send a capability request message to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal through a side link, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal;

[0278] The second sending module 802 is configured to, in response to receiving a capability provision message returned by the second terminal, send a positioning assistance information request message to the second terminal based on positioning capability information in the capability provision message that indicates the positioning capabilities supported by the second terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide first positioning assistance information, the first positioning assistance information being used to assist the first terminal in determining the location information of the second terminal;

[0279] The third sending module 803 is configured to send a request location information message to the second terminal in response to receiving a location assistance information provision message including the first location assistance information returned by the second terminal; wherein the request location information message is used to request the second terminal to provide measurement results of measuring the location information of the second terminal;

[0280] The determination module 804 is configured to determine the location information of the second terminal based on the first positioning assistance information and the measurement results in response to receiving a location information provision message returned by the second terminal, including the measurement results.

[0281] Reference Figure 9 , Figure 9 This is a block diagram of a positioning device according to an exemplary embodiment, the device being applied to a second terminal, comprising:

[0282] The fourth sending module 901 is configured to send a capability provision message to the first terminal in response to receiving a capability request message sent by the first terminal; wherein the first terminal is a terminal that communicates with the second terminal through a side link, the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal, and the capability provision message includes positioning capability information for indicating the positioning capabilities supported by the second terminal;

[0283] The fifth sending module 902 is configured to, in response to receiving a positioning assistance information request message sent by the first terminal based on the positioning capability information, send a positioning assistance information providing message including first positioning assistance information to the first terminal; wherein, the positioning assistance information request message is used to request the second terminal to provide the first positioning assistance information, and the first positioning assistance information is used to assist the first terminal in determining the measurement results of positioning the second terminal;

[0284] The positioning module 903 is configured to, in response to receiving a request location information message sent by the first terminal, locate the second terminal based on the positioning capabilities supported by the second terminal and determine the measurement result; wherein, the request location information message is used to request the second terminal to determine the measurement result;

[0285] The sixth sending module 904 is configured to send a location information message, including the measurement results, to the first terminal.

[0286] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0287] Accordingly, this disclosure also provides a computer-readable storage medium storing a computer program for executing the positioning method described above for either a first terminal or a second terminal.

[0288] Accordingly, this disclosure also provides a positioning device, including:

[0289] processor;

[0290] Memory used to store processor-executable instructions;

[0291] The processor is configured to execute the positioning method described above on either the first terminal or the second terminal side.

[0292] Figure 10 This is a block diagram illustrating a positioning device 1000 according to an exemplary embodiment. For example, the positioning device 1000 may be a terminal such as a mobile phone, tablet computer, e-book reader, multimedia playback device, wearable device, in-vehicle user equipment, iPad, smart TV, etc.

[0293] Reference Figure 10 The positioning device 1000 may include one or more of the following components: a processing component 1002, a memory 1004, a power supply component 1006, a multimedia component 1008, an audio component 1010, an input / output (I / O) interface 1012, a sensor component 1016, and a communication component 1018.

[0294] Processing component 1002 typically controls the overall operation of positioning device 1000, such as operations associated with display, telephone calls, random data access, camera operation, and recording operations. Processing component 1002 may include one or more processors 1020 to execute instructions to complete all or part of the steps of the channel monitoring method described above. Furthermore, processing component 1002 may include one or more modules to facilitate interaction between processing component 1002 and other components. For example, processing component 1002 may include a multimedia module to facilitate interaction between multimedia component 1008 and processing component 1002. Alternatively, processing component 1002 may read executable instructions from memory to implement the steps of a channel monitoring method provided in the above embodiments.

[0295] Memory 1004 is configured to store various types of data to support the operation of positioning device 1000. Examples of such data include instructions for any application or method operating on positioning device 1000, contact data, phonebook data, messages, pictures, videos, etc. Memory 1004 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0296] The power supply assembly 1006 provides power to the various components of the positioning device 1000. The power supply assembly 1006 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the positioning device 1000.

[0297] The multimedia component 1008 includes a display screen that provides an output interface between the positioning device 1000 and the user. In some embodiments, the multimedia component 1008 includes a front-facing camera and / or a rear-facing camera. When the positioning device 1000 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera can receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0298] Audio component 1010 is configured to output and / or input audio signals. For example, audio component 1010 includes a microphone (MIC) configured to receive external audio signals when the positioning device 1000 is in an operating mode, such as a call mode, recording mode, or voice recognition mode. The received audio signals may be further stored in memory 1004 or transmitted via communication component 1018. In some embodiments, audio component 1010 also includes a speaker for outputting audio signals.

[0299] I / O interface 1012 provides an interface between processing component 1002 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0300] Sensor assembly 1016 includes one or more sensors for providing status assessments of various aspects of positioning device 1000. For example, sensor assembly 1016 can detect the on / off state of positioning device 1000, the relative positioning of components such as the display and keypad of positioning device 1000, changes in position of positioning device 1000 or one of its components, the presence or absence of user contact with positioning device 1000, orientation or acceleration / deceleration of positioning device 1000, and temperature changes of positioning device 1000. Sensor assembly 1016 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1016 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1016 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0301] The communication component 1018 is configured to facilitate wired or wireless communication between the positioning device 1000 and other devices. The positioning device 1000 can access wireless networks based on communication standards, such as Wi-Fi, 2G, 3G, 4G, 5G, or 6G, or combinations thereof. In one exemplary embodiment, the communication component 1018 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 1018 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0302] In an exemplary embodiment, the positioning device 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform any of the channel monitoring methods described above on the terminal side.

[0303] In an exemplary embodiment, a non-transitory machine-readable storage medium including instructions is also provided, such as a memory 1004 including instructions, which can be executed by the processor 1020 of the positioning device 1000 to complete the channel eavesdropping method described above. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0304] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0305] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A positioning method, characterized in that, The method is applied to a first terminal and includes: A capability request message is sent to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal; the capability request message is used to request at least one of the following: sidelink downlink time difference of arrival (SL-DL TDOA) capability information, sidelink angle of arrival (SL-AOA) capability information, sidelink round-trip time (SL-RTT) capability information, and sidelink uplink time difference of arrival (SL-UL TDOA) capability information; The system receives a capability provision message sent by a second terminal, the capability provision message including at least one of the following: SL-DL TDOA capability information for each side traversing link frequency band, SL-AOA capability information for each side traversing link frequency band, SL-RTT capability information for each side traversing link frequency band, and SL-UL TDOA capability information for each side traversing link frequency band. The method further includes: Send second positioning assistance information to the second terminal, the second positioning assistance information being used to assist the second terminal in determining the location information of the second terminal; The capability provision message includes at least one of the following: The positioning signal capability information corresponding to the SL-DL TDOA capability information; The positioning signal capability information corresponding to the SL-AOA capability information; The positioning signal capability information corresponding to the SL-RTT capability information; The positioning signal capability information corresponding to the SL-UL TDOA capability information; Positioning measurement capability information corresponding to the SL-DL TDOA capability information; Positioning and measurement capability information corresponding to the SL-AOA capability information; Positioning measurement capability information corresponding to the SL-RTT capability information; Positioning measurement capability information corresponding to the SL-UL TDOA capability information.

2. The method according to claim 1, characterized in that, The positioning signal capability information corresponding to the SL-RTT capability information includes: The first RTT capability information corresponding to the positioning reference signal sent by the second terminal; The second RTT capability information corresponding to the positioning reference signal received by the second terminal; The first RTT capability information includes at least one of the following: The second terminal has first capability information in each side traversal band, the first capability information including a list of bandwidths supported by the second terminal in each side traversal band; The second capability information of the second terminal on each side-link carrier aggregation combination; the second capability information includes the maximum number of configurable positioning reference signal resources supported by the second terminal on each bandwidth portion (BWP). The second RTT capability information includes at least one of the following: Information on the side-link frequency bands supported by the second terminal; Information on the combination of sidelink frequency bands supported by the second terminal.

3. The method according to claim 1, characterized in that, The positioning signal capability information corresponding to the SL-AOA capability information and / or the SL-ULTDOA capability information includes at least one of the following: Information on the side-link frequency bands supported by the second terminal; Information on the combination of sidelink frequency bands supported by the second terminal.

4. The method according to claim 2 or 3, characterized in that, The sidelink frequency band information supported by the second terminal includes at least one of the following: The maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; The second terminal supports a list of bandwidths on each side link frequency band.

5. The method according to claim 1, characterized in that, The positioning signal capability information corresponding to the SL-DL TDOA capability information includes: The third capability information of the sidelink frequency bands supported by the second terminal, the third capability information including the list of bandwidths supported by the second terminal on each sidelink frequency band; The fourth capability information on the sidelink carrier aggregation combination supported by the second terminal includes the maximum number of configurable positioning reference signal resources supported by the second terminal on each BWP.

6. The method according to claim 1, characterized in that, The positioning measurement capability information corresponding to the SL-RTT capability information includes: The maximum number of receive-transmit time difference measurements supported by the second terminal in each side link frequency range; Does the second terminal support measuring the reference signal received power (RSRP) on each side link frequency band? 7. The method according to claim 1, characterized in that, The positioning and measurement capability information corresponding to the SL-AOA capability information includes: The maximum number of angle of arrival measurements supported by the second terminal in each side link frequency range; A first frequency band list is used to indicate the capability to measure the angle of arrival; wherein, on each side link frequency band in the first frequency band list, it indicates whether the second terminal supports simultaneous measurement of the angle of arrival and at least one first measurement, the first measurement being a measurement different from the angle of arrival.

8. The method according to claim 1, characterized in that, The positioning measurement capability information corresponding to the SL-DL TDOA capability information includes: The second terminal supports a maximum number of relative duration measurements in each side link frequency range; wherein, the relative duration refers to the time difference between the start time of the second terminal receiving the positioning signal and a pre-configured reference time point; Whether the second terminal supports RSRP measurement in each side link frequency range.

9. The method according to claim 1, characterized in that, The positioning measurement capability information corresponding to the SL-UL TDOA capability information includes: The maximum number of carrier phase measurements supported by the second terminal in each side link frequency range; A third frequency band list is used to indicate carrier phase measurement capability; wherein, on each side link frequency band in the third frequency band list, it indicates whether the second terminal supports simultaneous measurement of carrier phase and at least one third measurement quantity, the third measurement quantity being a measurement quantity different from the carrier phase.

10. A positioning method, characterized in that, The method is applied to a second terminal and includes: The system receives a capability request message sent by a first terminal; wherein the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The capability request message is used to request at least one of the following: sidelink downlink time difference of arrival (SL-DL TDOA) capability information, sidelink angle of arrival (SL-AOA) capability information, sidelink round-trip time (SL-RTT) capability information, and sidelink uplink time difference of arrival (SL-UL TDOA) capability information. Send a capability provision message to the first terminal, the capability provision message including at least one of the following: SL-DL TDOA capability information for each side traversing link frequency band, SL-AOA capability information for each side traversing link frequency band, SL-RTT capability information for each side traversing link frequency band, and SL-UL TDOA capability information for each side traversing link frequency band; The method further includes: The second positioning assistance information is received from the first terminal, and the second positioning assistance information is used to assist the second terminal in determining the location information of the second terminal. The capability provision message includes at least one of the following: The positioning signal capability information corresponding to the SL-DL TDOA capability information; The positioning signal capability information corresponding to the SL-AOA capability information; The positioning signal capability information corresponding to the SL-RTT capability information; The positioning signal capability information corresponding to the SL-UL TDOA capability information; Positioning measurement capability information corresponding to the SL-DL TDOA capability information; Positioning and measurement capability information corresponding to the SL-AOA capability information; Positioning measurement capability information corresponding to the SL-RTT capability information; Positioning measurement capability information corresponding to the SL-UL TDOA capability information.

11. The method according to claim 10, characterized in that, The positioning signal capability information corresponding to the SL-RTT capability information includes: The first RTT capability information corresponding to the positioning reference signal sent by the second terminal; The second RTT capability information corresponding to the positioning reference signal received by the second terminal; The first RTT capability information includes at least one of the following: The second terminal has first capability information in each side traversal band, the first capability information including a list of bandwidths supported by the second terminal in each side traversal band; The second capability information of the second terminal on each side-link carrier aggregation combination, the second capability information including the maximum number of configurable positioning reference signal resources supported by the second terminal on each bandwidth portion (BWP); The second RTT capability information includes at least one of the following: Information on the side-link frequency bands supported by the second terminal; Information on the combination of sidelink frequency bands supported by the second terminal.

12. The method according to claim 10, characterized in that, The positioning signal capability information corresponding to the SL-AOA capability information and / or the SL-UL TDOA capability information includes at least one of the following: Information on the side-link frequency bands supported by the second terminal; Information on the combination of sidelink frequency bands supported by the second terminal.

13. The method according to claim 11 or 12, characterized in that, The sidelink frequency band information supported by the second terminal includes at least one of the following: The maximum number of reference signal resources supported by the second terminal on each resource set of each side-link frequency band; The second terminal supports a list of bandwidths on each side link frequency band.

14. The method according to claim 11, characterized in that, The positioning signal capability information corresponding to the SL-DL TDOA capability information includes: The third capability information of the sidelink frequency bands supported by the second terminal, the third capability information including the list of bandwidths supported by the second terminal on each sidelink frequency band; The fourth capability information on the sidelink carrier aggregation combination supported by the second terminal includes the maximum number of configurable positioning reference signal resources supported by the second terminal on each BWP.

15. The method according to claim 11, characterized in that, The positioning measurement capability information corresponding to the SL-RTT capability information includes: The maximum number of receive-transmit time difference measurements supported by the second terminal in each side link frequency range; Does the second terminal support measuring the reference signal received power (RSRP) on each side link frequency band? 16. The method according to claim 11, characterized in that, The positioning and measurement capability information corresponding to the SL-AOA capability information includes: The maximum number of angle of arrival measurements supported by the second terminal in each side link frequency range; A first frequency band list is used to indicate the capability to measure the angle of arrival; wherein, on each side link frequency band in the first frequency band list, it indicates whether the second terminal supports simultaneous measurement of the angle of arrival and at least one first measurement, the first measurement being a measurement different from the angle of arrival.

17. The method according to claim 11, characterized in that, The positioning measurement capability information corresponding to the SL-DL TDOA capability information includes: The second terminal supports a maximum number of relative duration measurements in each side link frequency range; wherein, the relative duration refers to the time difference between the start time of the second terminal receiving the positioning signal and a pre-configured reference time point; Whether the second terminal supports RSRP measurement in each side link frequency range.

18. The method according to claim 11, characterized in that, The positioning measurement capability information corresponding to the SL-UL TDOA capability information includes: The maximum number of carrier phase measurements supported by the second terminal in each side link frequency range; A third frequency band list is used to indicate carrier phase measurement capability; wherein, on each side link frequency band in the third frequency band list, it indicates whether the second terminal supports simultaneous measurement of carrier phase and at least one third measurement quantity, the third measurement quantity being a measurement quantity different from the carrier phase.

19. A positioning device, characterized in that, The device is applied to a first terminal and includes: A first sending module is configured to send a capability request message to a second terminal; wherein the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal, and the capability request message is used to request at least one of the following: sidelink downlink time difference of arrival (SL-DL TDOA) capability information, sidelink angle of arrival (SL-AOA) capability information, sidelink round-trip time (SL-RTT) capability information, and sidelink uplink time difference of arrival (SL-UL TDOA) capability information; The first receiving module is configured to receive a capability provision message sent by the second terminal, the capability provision message including at least one of the following: SL-DL TDOA capability information for each side traversing link frequency band, SL-AOA capability information for each side traversing link frequency band, SL-RTT capability information for each side traversing link frequency band, and SL-UL TDOA capability information for each side traversing link frequency band. The first sending module is also configured to: Send second positioning assistance information to the second terminal, the second positioning assistance information being used to assist the second terminal in determining the location information of the second terminal; The capability provision message includes at least one of the following: The positioning signal capability information corresponding to the SL-DL TDOA capability information; The positioning signal capability information corresponding to the SL-AOA capability information; The positioning signal capability information corresponding to the SL-RTT capability information; The positioning signal capability information corresponding to the SL-UL TDOA capability information; Positioning measurement capability information corresponding to the SL-DL TDOA capability information; Positioning and measurement capability information corresponding to the SL-AOA capability information; Positioning measurement capability information corresponding to the SL-RTT capability information; Positioning measurement capability information corresponding to the SL-UL TDOA capability information.

20. A positioning device, characterized in that, The device is applied to a second terminal and includes: The second receiving module is configured to receive a capability request message sent by the first terminal; wherein the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message is used to request the second terminal to provide the positioning capabilities supported by the second terminal. The capability request message is used to request at least one of the following: sidelink downlink time difference of arrival (SL-DL TDOA) capability information, sidelink angle of arrival (SL-AOA) capability information, sidelink round-trip time (SL-RTT) capability information, and sidelink uplink time difference of arrival (SL-UL TDOA) capability information. The second sending module is configured to send a capability provision message to the first terminal. The capability provision message includes at least one of the following: SL-DL TDOA capability information for each side traversing link frequency band, SL-AOA capability information for each side traversing link frequency band, SL-RTT capability information for each side traversing link frequency band, and SL-UL TDOA capability information for each side traversing link frequency band. The second receiving module is also configured to: The system receives second positioning assistance information sent by the first terminal, the second positioning assistance information being used to assist the second terminal in determining the location information of the second terminal. The capability provision message includes at least one of the following: The positioning signal capability information corresponding to the SL-DL TDOA capability information; The positioning signal capability information corresponding to the SL-AOA capability information; The positioning signal capability information corresponding to the SL-RTT capability information; The positioning signal capability information corresponding to the SL-UL TDOA capability information; Positioning measurement capability information corresponding to the SL-DL TDOA capability information; Positioning and measurement capability information corresponding to the SL-AOA capability information; Positioning measurement capability information corresponding to the SL-RTT capability information; Positioning measurement capability information corresponding to the SL-UL TDOA capability information.

21. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for executing the positioning method according to any one of claims 1-9 or 10-18.

22. A positioning device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the positioning method according to any one of claims 1-9 or 10-18.

Images